TriggerSync: A time synchronisation tool

English, Andrew, Ross, Patrick, Ball, David, Upcroft, Ben, & Corke, Peter (2015) TriggerSync: A time synchronisation tool. In International Conference on Robotics and Automation (ICRA 2015), IEEE, Seattle, Washington, The United States of America, pp. 6220-6226.

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Abstract

This paper presents a framework for synchronising multiple triggered sensors with respect to a local clock using standard computing hardware. Providing sensor measurements with accurate and meaningful timestamps is important for many sensor fusion, state estimation and control applications. Accurately synchronising sensor timestamps can be performed with specialised hardware, however, performing sensor synchronisation using standard computing hardware and non-real-time operating systems is difficult due to inaccurate and temperature sensitive clocks, variable communication delays and operating system scheduling delays. Results show the ability of our framework to estimate time offsets to sub-millisecond accuracy. We also demonstrate how synchronising timestamps with our framework results in a tenfold reduction in image stabilisation error for a vehicle driving on rough terrain. The source code will be released as an open source tool for time synchronisation in ROS.

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ID Code: 82427
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
DOI: 10.1109/ICRA.2015.7140072
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Funding:
Copyright Owner: Copyright 2015 [Please consult the author]
Deposited On: 11 Mar 2015 23:09
Last Modified: 11 Sep 2015 22:36

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